Homework4_rl2024

Homework 4 for Robotics Lab 2024/2025

First build all the packages by using:

colcon build --packages-select aruco aruco_msgs aruco_ros rl_fra2mo_description ros2_opencv

In each terminal you open, source the install directory:

source install/setup.bash

1 Launch the Gazebo simulation and spawn the mobile robot in the world leonardo_race_field

Run the following command:

ros2 launch rl_fra2mo_description gazebo_fra2mo.launch.py

NOTE: to visualize the view of the camera we placed, run:

ros2 run rqt_image_view rqt_image_view

and select the /videocamera topic

2 Autonomous navigation task

In the first terminal run:

ros2 launch rl_fra2mo_description rviz_gazebo.launch.py

In another terminal launch:

ros2 launch rl_fra2mo_description fra2mo_explore.launch.py

In the last terminal run:

ros2 run rl_fra2mo_description follow_waypoints.py 

3 Tuning the navigation stack’s parameters:

In the first terminal run:

ros2 launch rl_fra2mo_description rviz_gazebo.launch.py

By defualt, if you run:

ros2 launch rl_fra2mo_description fra2mo_explore.launch.py 

will be selected low values for the slam parameters and medium values for the explore parameters.

If you want change the configurations, run:

ros2 launch rl_fra2mo_description fra2mo_explore.launch.py slam_config_type:="medium" explore_config_type:="low"

This command selects medium values for the slam parameters and low values for the explore parameters.

ros2 launch rl_fra2mo_description fra2mo_explore.launch.py slam_config_type:="high" explore_config_type:="default"

This command selects high values for the slam parameters and medium values for the explore parameters.

ros2 launch rl_fra2mo_description fra2mo_explore.launch.py slam_config_type:="high" explore_config_type:="high"

This command selects high values for the slam parameters and high values for the explore parameters.

In general, the following terminal values can be provided for the slam_config_type parameter: -defualt -medium -high

For the explore_config_type parameter, the following terminal values can be provided: -defualt -low -high

4a-4b 2D navigation task

In the first terminal run:

ros2 launch rl_fra2mo_description rviz_gazebo.launch.py

In another terminal launch:

ros2 launch rl_fra2mo_description nav_aruco.launch.py

In another terminal run:

ros2 run rl_fra2mo_description vision_based_navigation.py

In another terminal, to check whether the robot is actually detecting the marker, run:

ros2 run rqt_image_view rqt_image_view 

and select as topic: aruco_single/result.

4c Publish the Aruco pose as TF

In the first terminal run:

ros2 launch rl_fra2mo_description rviz_gazebo.launch.py

In second terminal, run:

ros2 launch rl_fra2mo_description nav_aruco.launch.py

To move the mobile robot close to obstacle 9 so that it can see the Aruco Marker with the camera, run:

ros2 run rl_fra2mo_description go_to_aruco.py

In another terminal, to check whether the robot is actually detecting the marker, run:

ros2 run rqt_image_view rqt_image_view

and select as topic: aruco_single/result.

In another terminal run:

ros2 run rl_fra2mo_description aruco_to_map

In the last terminal, to see the transformation published by the node, run:

ros2 topic echo /aruco_to_map

NOTES: After running the command provided above, as soon as Gazebo opens, PRESS THE PLAY BUTTON in the lower left corner!!!